Package Summary

Localizing jockey from LaserScan Implement a localizing jockey from a LaserScan. The associated descriptor are LaserScan[] and Crossing.

Overview

The lj_laser package is a localizing jockey for the Large Maps Framework (LaMa) that computes place dissimilarities based on a 360-degree sensor_msgs/LaserScan.

The role of this jockey is to get the dissimilarity of the sensor_msgs/LaserScan descriptors of all vertices with the current place profile (represented by a sensor_msgs/LaserScan). The action is done when the dissimilarities are computed. Implemented actions:

  • GET_VERTEX_DESCRIPTOR: return the ids of the LaserScan descriptor and the computed Crossing descriptor

  • GET_SIMILARITY: return the dissimilarity based on sensor_msgs/LaserScan

Usage

ROS API

Interaction with the map (created by this jockey)

[Getter][/][Setter]

message type

interface default name

Getter/Setter

VectorLaserScan

jockey_name + "_laser"

Setter

lama_msgs/Crossing

jockey_name + "_crossing"

Subscribed Topics

~<name>/base_scan (sensor_msgs/LaserScan)
  • 360-degree laser-scan

Services

~<name>/dissimilarity_server (polygon_matcher/PolygonDissimilarity)
  • used to compare all known places (as polygons) with the current place.

Parameters

~<name>/laser_interface_name (String, default: jockey_name + "_laser")
  • Name of the map interface for laser-scans.
~<name>/crossing_interface_name (String, default: jockey_name + "_crossing")
  • Name of the map interface for crossings.
~<name>/dissimilarity_server_name (String, default: "dissimilarity_server")
  • Name of the dissimilarity server.

Wiki: lj_laser (last edited 2015-01-06 09:16:13 by GaelEcorchard)